std_msgs/Header header
geometry_msgs/Point[] bearing_factors
float64[] range_factors
geometry_msgs/Point[] landmark_body_positions
std_msgs/UInt64[] meas_ids
nav_msgs/Odometry vio_odom
nav_msgs/Odometry corrected_odom
nav_msgs/Odometry optimized_key_pose
std_msgs/UInt64 key_pose_idx



